/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "pcan_protocol.h"
#include "LED.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
FDCAN_HandleTypeDef hfdcan1;
FDCAN_HandleTypeDef hfdcan2;

TIM_HandleTypeDef htim6;
TIM_HandleTypeDef htim7;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_FDCAN1_Init(void);
static void MX_FDCAN2_Init(void);
static void MX_TIM6_Init(void);
static void MX_TIM7_Init(void);
/* USER CODE BEGIN PFP */
extern PCD_HandleTypeDef hpcd_USB_FS;

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern volatile uint32_t timestep;

void Flash_OB_Handle(void) 
{
	FLASH_OBProgramInitTypeDef OBInit;
	uint32_t userconfig;

	HAL_FLASH_Unlock();
	HAL_FLASH_OB_Unlock();
	HAL_FLASHEx_OBGetConfig(&OBInit);		 
	OBInit.OptionType = OPTIONBYTE_USER;		   
	OBInit.USERType	 = OB_USER_nSWBOOT0;		   
	OBInit.USERConfig = 0;		  
	HAL_FLASHEx_OBProgram (&OBInit);		 

	OBInit.USERType   = OB_USER_nBOOT0;		  
	OBInit.USERConfig = 1; 		
	HAL_FLASHEx_OBProgram (&OBInit);	

    OBInit.OptionType = OPTIONBYTE_RDP;
	OBInit.RDPLevel = OB_RDP_LEVEL_1;
	HAL_FLASHEx_OBProgram (&OBInit);
	
	HAL_FLASH_OB_Lock();
	HAL_FLASH_Lock();
}

void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
{
  //__HAL_FDCAN_CLEAR_FLAG(hfdcan, FDCAN_FLAG_BUS_OFF);
  if(hfdcan->Instance == FDCAN1) {
    MX_FDCAN1_Init();
    FDCAN1_config();
    HAL_FDCAN_Start(&hfdcan1);
  } else if(hfdcan->Instance == FDCAN2) {
    MX_FDCAN2_Init();
    FDCAN2_config();
    HAL_FDCAN_Start(&hfdcan2);
  }
}

void SetBaud500k2M(void)
{
	hfdcan1.Init.NominalPrescaler = 18;
	hfdcan1.Init.NominalTimeSeg1 = 12;
	hfdcan1.Init.NominalTimeSeg2 = 3;
	hfdcan1.Init.NominalSyncJumpWidth = 2;

	hfdcan1.Init.DataPrescaler = 6;
	hfdcan1.Init.DataTimeSeg1 = 8;
	hfdcan1.Init.DataTimeSeg2 = 3;
	hfdcan1.Init.DataSyncJumpWidth = 2;
	HAL_FDCAN_Init(&hfdcan1); 
	FDCAN1_config();
	//HAL_FDCAN_Start(&hfdcan1);

	hfdcan2.Init.NominalPrescaler = 18;
	hfdcan2.Init.NominalTimeSeg1 = 12;
	hfdcan2.Init.NominalTimeSeg2 = 3;
	hfdcan2.Init.NominalSyncJumpWidth = 2;

	hfdcan2.Init.DataPrescaler = 6;
	hfdcan2.Init.DataTimeSeg1 = 8;
	hfdcan2.Init.DataTimeSeg2 = 3;
	hfdcan2.Init.DataSyncJumpWidth = 2;

	HAL_FDCAN_Init(&hfdcan2);
	FDCAN2_config();
	//HAL_FDCAN_Start(&hfdcan2);

}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
  void PCANProgress(void);

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
  //Flash_OB_Handle();

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_FDCAN1_Init();
  MX_FDCAN2_Init();
  MX_USB_Device_Init();
  MX_TIM6_Init();
  MX_TIM7_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_Base_Start_IT(&htim6);
  HAL_TIM_Base_Start_IT(&htim7);
  //FDCAN1_config();
  //FDCAN2_config();
  SetBaud500k2M();

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	HAL_PCD_IRQHandler(&hpcd_USB_FS);
	pcan_protocol_poll();
	
	if(timestep >= 1)
	{
		timestep = 0;
		PCANProgress();
		LED_Task();
	}
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
  RCC_OscInitStruct.PLL.PLLN = 18;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV6;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief FDCAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_FDCAN1_Init(void)
{

  /* USER CODE BEGIN FDCAN1_Init 0 */

  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = DISABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 18;
  hfdcan1.Init.NominalSyncJumpWidth = 1;
  hfdcan1.Init.NominalTimeSeg1 = 12;
  hfdcan1.Init.NominalTimeSeg2 = 3;
  hfdcan1.Init.DataPrescaler = 6;
  hfdcan1.Init.DataSyncJumpWidth = 1;
  hfdcan1.Init.DataTimeSeg1 = 8;
  hfdcan1.Init.DataTimeSeg2 = 3;
  hfdcan1.Init.StdFiltersNbr = 1;
  hfdcan1.Init.ExtFiltersNbr = 1;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */

  /* USER CODE END FDCAN1_Init 2 */

}

/**
  * @brief FDCAN2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_FDCAN2_Init(void)
{

  /* USER CODE BEGIN FDCAN2_Init 0 */

  /* USER CODE END FDCAN2_Init 0 */

  /* USER CODE BEGIN FDCAN2_Init 1 */

  /* USER CODE END FDCAN2_Init 1 */
  hfdcan2.Instance = FDCAN2;
  hfdcan2.Init.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan2.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
  hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan2.Init.AutoRetransmission = DISABLE;
  hfdcan2.Init.TransmitPause = DISABLE;
  hfdcan2.Init.ProtocolException = DISABLE;
  hfdcan2.Init.NominalPrescaler = 18;
  hfdcan2.Init.NominalSyncJumpWidth = 1;
  hfdcan2.Init.NominalTimeSeg1 = 12;
  hfdcan2.Init.NominalTimeSeg2 = 3;
  hfdcan2.Init.DataPrescaler = 6;
  hfdcan2.Init.DataSyncJumpWidth = 1;
  hfdcan2.Init.DataTimeSeg1 = 8;
  hfdcan2.Init.DataTimeSeg2 = 3;
  hfdcan2.Init.StdFiltersNbr = 1;
  hfdcan2.Init.ExtFiltersNbr = 1;
  hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN2_Init 2 */

  /* USER CODE END FDCAN2_Init 2 */

}

/**
  * @brief TIM6 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM6_Init(void)
{

  /* USER CODE BEGIN TIM6_Init 0 */

  /* USER CODE END TIM6_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM6_Init 1 */

  /* USER CODE END TIM6_Init 1 */
  htim6.Instance = TIM6;
  htim6.Init.Prescaler = 143;
  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim6.Init.Period = 9999;
  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM6_Init 2 */

  /* USER CODE END TIM6_Init 2 */

}

/**
  * @brief TIM7 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM7_Init(void)
{

  /* USER CODE BEGIN TIM7_Init 0 */

  /* USER CODE END TIM7_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM7_Init 1 */

  /* USER CODE END TIM7_Init 1 */
  htim7.Instance = TIM7;
  htim7.Init.Prescaler = 143;
  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim7.Init.Period = 65535;
  htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM7_Init 2 */

  /* USER CODE END TIM7_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, PCAN_LED2_Pin|PCAN_SEND_LED2_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, PCAN_SEND_LED1_Pin|PCAN_LED1_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : PCAN_LED2_Pin PCAN_SEND_LED2_Pin */
  GPIO_InitStruct.Pin = PCAN_LED2_Pin|PCAN_SEND_LED2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PCAN_SEND_LED1_Pin PCAN_LED1_Pin */
  GPIO_InitStruct.Pin = PCAN_SEND_LED1_Pin|PCAN_LED1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
